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Design of an underactuated robot hand based on displacement-force conversion mechanism

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Abstract

This work presents a study on the development of an underactuated robot hand. The hand consists of three fingers operated by a single actuator through a triangular joint that provides approximately equal grasp force and compliance among them. A displacement-force conversion mechanism with the spring and feed drive was developed to actuate the fingers. With this mechanism the grasp force can be controlled easily based on the rotary displacement of the actuator. A mathematical model of the contact force was presented and verified by measurement of the fingertip force. The grasp compliance was validated by tests with a variety of objects.

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Authors and Affiliations

  1. Graduate School, Department of Mechanical Engineering, Korea University, 5-1 Anam-dong, Seongbuk-gu, Seoul, South Korea, 136-713

    Hun-Keon Ko, Chang-Hee Cho & Hyo-Chan Kwon

  2. Department of Mechanical Engineering, Korea University, 5-1 Anam-dong, Seongbuk-gu, Seoul, South Korea, 136-713

    Kwon-Hee Kim

Authors
  1. Hun-Keon Ko
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  2. Chang-Hee Cho
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  3. Hyo-Chan Kwon
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  4. Kwon-Hee Kim
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Correspondence to Kwon-Hee Kim.

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Ko, HK., Cho, CH., Kwon, HC. et al. Design of an underactuated robot hand based on displacement-force conversion mechanism. Int. J. Precis. Eng. Manuf. 13, 509–516 (2012). https://doi.org/10.1007/s12541-012-0066-7

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  • DOI: https://doi.org/10.1007/s12541-012-0066-7

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